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Cooperative ITS –Past, Present, and Future
Workshop arranged by the EU project Future Cities in Porto
Katrin Sjöberg
April 24, 2015
Volvo Group Trucks Technology – Advanced Technology & Research
Short history of Volvo
Founded in 1926 in Göteborg, Sweden
– 14 April, 1927, the first car leaves the factory
In 1928, the first trucks and buses saw the day of light
1933, Volvo reached 10 000 manufactured vehicles
1941, Volvo reached 50 000 manufactured vehicles
The Volvo logotype is an ancient symbol for iron
Volvo is latin and means ”I roll”
Where are we today...
Katrin Sjöberg2
Volvo Group Trucks Technology – Advanced Technology & ResearchKatrin Sjöberg3
The Volvo Group, which employs about 110,000 people, has production facilities in 18 countries and sales of products in more than 190 markets.
Volvo Group Trucks Technology – Advanced Technology & Research
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Mack TrucksUD TrucksVolvo Trucks Renault Trucks
Volvo Buses
Nova Buses
UD Buses
Prevost
Eicher JVDFCV JV
Sunwin JV
Volvo CE
SDLG JVVolvo Penta
JV = Joint Venture
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Safety
Quality
Environmental care
Core values of the Volvo Group
Zero Accidents with Volvo Group Products
Build dependable products that meet our customers’ demands
”We are part of the problem but we are also part of the solution”
PG Gyllenhammar, former CEO, 1972
Volvo Group Trucks Technology – Advanced Technology & Research
What is C-ITS?
Cooperative Intelligent Transport System
Direct communication between vehicles (vehicle-to-vehicle, V2V)
Communication between vehicles and roadside units (vehicle-to-roadside, V2R)
Decentralized network topology, all nodes are peers (vehicles as well as roadside units)
In C-ITS, all participants produce and consume information to improve the overall road traffic experience (safety, efficiency, added-value services)
Katrin Sjöberg6
Volvo Group Trucks Technology – Advanced Technology & Research
COOPERATIVE ITS – PAST
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Volvo Group Trucks Technology – Advanced Technology & Research
History of C-ITS
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Volvo Group Trucks Technology – Advanced Technology & Research
Forecast in 1994
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Source: Advanced Technology for Road Transport: IVHS and ATT, Ian Catling ed., Artech house, 1994.
eCall in Europe –law March 1, 2018, cars and light duty vehicles
Advanced Emergency Braking in Europe – law November 1, 2015, heavy duty vehicles.
Volvo Group Trucks Technology – Advanced Technology & Research
Some major projects in Europe related to cooperative ITS
DRIVE I (1989-1991)
– Intelligent infrastructure
– Role of public authorities
– Vulnerable road users
PROMETHEUS
– Established by the automotive industry
– 1986-1994 (8 years)
– Contained several subprojects
– Focus on the intelligent vehicle
Katrin Sjöberg10
DRIVE and PROMETHEUS werefunded by the European Union.
PROMETHEUS = PROgram for a European Traffic with Highest Efficiency and Unprecedented Safety
Volvo Group Trucks Technology – Advanced Technology & Research
PROMETHEUS
Katrin Sjöberg11
Source: Advanced Technology for Road Transport: IVHS and ATT, Ian Catling ed., Artech house, 1994.
Volvo Group Trucks Technology – Advanced Technology & Research
PROMETHEUS cont’d
Cooperative Control Task Force (CCTF) within PROMETHEUSpromoted five applications
– Intelligent cruise control (I2V+sensors)
– Intelligent maneuvering control (V2V)
– Intelligent intersection control (I2V)
– Emergency warning (I2V)
– Medium-range pre-information (I2V)
Katrin Sjöberg12
V2V = communication at 63-64 GHz, 500-1000 meters, 2 Mbps, 256 bits
V2I = communication at 5.8 GHz, 10-30 meters, <1 Mbps, 200 bits
Volvo Group Trucks Technology – Advanced Technology & Research
Video with PROMETHEUS
http://youtu.be/6n7caUNkyAY
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Volvo Group Trucks Technology – Advanced Technology & Research
FCC decision on 5.9 GHz 1999 The US frequency regulation authority FCC allocated a 75 MHz
band for cooperative ITS (called connected vehicle technology in the US) in 1999– 5.850-5.925 GHz– “to improve traveller safety, decrease congestion, facilitate the
reduction of air pollution, and help to conserve vital fossil fuels” Sparked today’s wave of cooperative ITS projects and deployment
plans In 2003, ASTM released the precursor to IEEE 802.11p, specifying
the whole protocol stack consisting of– Physical, data link and application layers
In 2004, IEEE took over the work from ASTM– Developed 802.11p approved in 2010
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ASTM = American Society for Testing and Materials, FCC = Federal Communications Commission
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COOPERATIVE ITS – PRESENT
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Volvo Group Trucks Technology – Advanced Technology & Research
C-ITS as we know it today
In 2008, EC issued a commission decision to set aside frequency band for C-ITS (5.875-5.905 GHz)
– Road traffic safety
Wireless technology IEEE 802.11p (a.k.a. ITS-G5 in Europe)
Artery of C-ITS is the position messages called Cooperative Awareness Message (CAM) triggered on vehicle dynamics
– Speed, heading, position, etc.
– 1-10 Hz, max size 400 byte (including security), 6 Mbps
Event-triggered messages called Decentralized Environmental Notification Message (DENM)
– Triggered on behalf of a C-ITS application
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Volvo Group Trucks Technology – Advanced Technology & Research
Drivers for C-ITS – Safety
Tranarpsbron, E6, Östra Ljungby, Sweden
January 15, 2013 March 31, 2013
Interstate 17, Virginia, US
Around 100 vehicles involved in both accidents caused by fog and black ice.
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Volvo Group Trucks Technology – Advanced Technology & Research
Drivers for C-ITS – Fuel economy
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VDA = German Association of the Automotive Industry
The source to stops can be, e.g., red lights and shock waves in dense traffic scenarios, affecting the overall road traffic efficiency.
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Drivers for C-ITS –Platoons Reduced CO2 emissions
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Results from EU project SARTRE
Results from Japanese project
JARI
Following truck
Lead truck
Volvo Group Trucks Technology – Advanced Technology & Research
Main C-ITS actors working towards deployment ETSI TC ITS
– European Telecommunications Standards Institute Technical Committee on Intelligent Transport System
– Developed whole protocol stack including applications for vehicles CEN TC 278 WG18
– Develops applications for roadside part C2C-CC
– Consortium of OEMs, suppliers, universities– Pre-standardization – focus on vehicle side part– Certification
Amsterdam group – Consortium of road operators, OEMs, suppliers– Pre-standardization – focus on roadside part
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Volvo Group Trucks Technology – Advanced Technology & Research
C-ITS protocol stack
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EN 302 663 – ITS-G5 TS 102 687 – DCC
TS 102 792 – Co-existence with CEN DSRC
EN 302 636-4-1 GeoNetworking media-independent
TS 302 636-4-1 GeoNetworking media-dependent
TS 102 636-5-1 Basic Transport Protocol
EN 302 637-2 CAM
EN 302 637-3 DENM
C-ITS applications
Harmonized EN 302 571 – frequency regulation
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C2C-CC C2C-CC has developed a profile of all ETSI standards to
facilitate an interoperable system– Parametrizing ETSI standards
Triggering conditions have been developed for a set of applications (called day one applications) such as – Dangerous end of queue detection– Emergency electronic brake light– Stationary vehicle– Adverse weather condition – fog – Special vehicle warning– Etc.
Working on certification of the whole system
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Day one applications will warn the driver and driver must act upon the information.
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Harmonized EN 302 571
Currently being revised within ETSI TC ERM TG37 (technical committee on electromagnetic compatibility)– It is revised due to stringent spectrum mask requirements (-65
dBm in the spurious domain) Defines spectrum mask, wanted and unwanted emission limits
etc., for the frequency band at 5.9 GHz allocated to road traffic safety (C-ITS)
Only legal document in Europe for putting C-ITS to the market Realizes what is written in the new Radio Equipment Directive
(RED)– Directive 2014/53/EU
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Volvo Group Trucks Technology – Advanced Technology & Research
Harmonized EN 302 571
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Allowed output power 23 dBm/MHz, which translates to 33 dBm per 10 MHz channel.
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Harmonized EN 302 571 cont’d
Also requires...
– Co-existence with CEN DSRC at 5.8 GHz (used for electronic road tolling based on radio frequency identification, RFID)
By normatively referring to ETSI TS 102 792 (currently being revised)
– Decentralized congestion control (DCC)
Algorithm for controlling the network load
By normatively referring to ETSI TS 102 687
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Normatively implies mandatory.
Volvo Group Trucks Technology – Advanced Technology & Research
Why co-existence with CEN DSRC?
CEN DSRC is used for electronic toll collection (radio) at 5.795-5.815 GHz
C-ITS transmissions at 5.9 GHz can disturb the toll transaction
– Especially blocking the onboard unit of CEN DSRC
C-ITS vehicles need to reduce power to 10 dBm in the toll plaza and also reduce the duty cycle of CAMs (position messages)
Open issue is how the C-ITS equipped vehicles shall know when they are in a toll plaza or not
– CEN DSRC detector
– Geographical database containing all toll plaza positions
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Volvo Group Trucks Technology – Advanced Technology & Research
Why DCC?
To avoid overloaded network
– Many vehicles within radio range can cause decreased reliability and increased delay adventuring road traffic safety applications
Selected medium access control (MAC) method stemming from 802.11p designed for low to moderate network loads
Ad hoc network topology
DCC for first C-ITS applications based on transmit rate control
– Control the number of packets injected to the network based on the current channel busy ratio (CBR)
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Volvo Group Trucks Technology – Advanced Technology & Research
The US protocol stack versus the European approach
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WAVE = Wireless Access in the Vehicular Environment, SAE = Society of Automotive Engineer, BSM = Basic Safety Message, LLC = Logical Link Control,
Volvo Group Trucks Technology – Advanced Technology & Research
COOPERATIVE ITS – FUTURE
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Volvo Group Trucks Technology – Advanced Technology & Research
The Plan
https://www.youtube.com/watch?v=ur5ncncBkzA
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Volvo Group Trucks Technology – Advanced Technology & Research
Automation Areas and Drivers for Automation Automation areas
– On-road automation– Automation in confined areas (e.g., quarry sites, harbours,
workyards) Drivers for automation
– Safety Reduces the number of accidents
– Environment Less jerky driving reduces CO2 emissions Heavy duty vehicles account for 17% of total CO2
emissions– Quality, productivity and cost
Increased road traffic efficiency increases efficiency of transport of goods and human
Reduced fuel consumption decreased costs
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Volvo Group Trucks Technology – Advanced Technology & Research
Connected Automation
The marriage between automated vehicles using, e.g., already existing active safety systems and wireless communication
Using wireless communication (e.g., ITS-G5) as one of the inputs for controlling the vehicle without intervention by the driver
Example of applications
– Platooning
Increase road traffic efficiency and reduce fuel consumption
– Cooperative ACC
Damp shockwaves through the traffic
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Volvo Group Trucks Technology – Advanced Technology & Research
Active Safety Systems in Production
Drivers need to act (information system)
– Lane Change Support (LCS)
– Lane Keeping Support (LKS)
Drivers do not need to act (vehicle can act automatically based on sensor input)
– Adaptive Cruise Control (ACC)
– Electronic Stability Program (ESP)
– Forward Collision Warning – Advanced Emergency Braking System (FCW-AEBS)
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Volvo Group Trucks Technology – Advanced Technology & Research
Advanced Emergency Braking System
https://www.youtube.com/watch?v=ridS396W2BY
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Volvo Group Trucks Technology – Advanced Technology & Research
Automation levels
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SAE J3016 ”Taxonomy and Definitions for Terms Related to On-Road Motor Vehicle Automated Driving Systems”
– Released January 2014
A major difference between level 2 and level 3
– Driver monitoring to system monitoring
SAE = Society of Automotive Engineers
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Katrin Sjöberg
Deg
ree
of A
uton
omy
Time
Driverless predefined missions
Confined areas(e.g. workyard, harbour, construction sites)
Driver support
Machine Control
Remote Control
Remote Supervision
Driverless predefined routes
Connected autonomous vehicles and sites
Public roads
Highly automated driving, e.g., platooning
Connected automated vehicles
Partly automated driving, e.g., CACC
Scenario based automation of driving tasks, e.g, queue assist, low speed control maneuvers
Today: active safety and driver assistance
Connected Automation
Volvo Group Trucks Technology – Advanced Technology & Research
Opportunities with Connected Automation
Automated vehicles need low-latency short-range communication such as ITS-G5 (IEEE 802.11p), otherwise, a much larger safety distance to other objects is needed for example
Better utilization of existing road infrastructure (less road traffic congestion)
– ACC requires a time headway of at least 2.8 sec to be stable
– Cooperative ACC using C-ITS can reduce this to at least 0.9 sec
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A string of vehicles is said to be stable if any disturbances introduced into the string is absorbed!
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Functional Safety and ISO 26262
ISO 26262 ”Road vehicles – Functional safety”
Defines functional safety for automotive equipment applicable throughout the lifecycle of all automotive electronic and electrical safety-related systems
Automotive Safety Level Integrity Level (ASIL) expresses the risk reduction to prevent a specific hazard
– 4 ASIL levels
– Severity
– Exposure
– Controllable
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Volvo Group Trucks Technology – Advanced Technology & Research
Wrap up
C-ITS at 5.9 GHz using IEEE 802.11p is essential for increasing road traffic safety and road traffic efficiency
– License-free (no subscription required)
C-ITS is the only enabler of platooning and CACC
In general, C-ITS is essential for automated vehicles to extend the information horizon beyond traditional sensor systems such as radar, cameras, etc, which are all line-of-sight technologies
C-ITS is closing the gap between long-range cellular communication and traditional sensor systems
C-ITS can be part of functional safety, cellular cannot be due to backbone connection
Katrin Sjöberg39
Volvo Group Trucks Technology – Advanced Technology & ResearchKatrin Sjöberg40 2015-04-27
THANK YOU FOR LISTENING!
Katrin Sjöberg, Connected Vehicle Technology Specialist at Volvo GTT
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